Model Predictive Control
Toolbox™ Release Notes
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Model Predictive Control Toolbox™ Release Notes
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Summary by Version ............................... 1
Version 3.2 (R2010a) Model Predictive Control Toolbox
Software
Version 3.1.1 (R2009b) Model Predictive Control
Toolbox
Version 3.1 (R2009a) Model Predictive Control Toolbox
Software
Version 3.0 (R2008b) Model Predictive Control Toolbox
Software
Version 2.3.1 (R2008a) Model Predictive Control
Toolbox Software
........................................ 4
......................................... 5
........................................ 6
........................................ 7
................................ 10
Contents
Version 2.3 (R2007b) Model Predictive Control Toolbox
Software
Version 2.2.4 (R2007a) Model Predictive Control
Toolbox Software
Version 2.2.3 (R2006b) Model Predictive Control
Toolbox Software
Version 2.2.2 (R2006a) Model Predictive Control
Toolbox Software
Version 2.2.1 (R14SP3) Model Predictive Control
Toolbox Software
Version 2.2 (R14SP2) Model Predictive Control Toolbox
Software
........................................ 11
................................ 13
................................ 14
................................ 15
............................... 16
........................................ 17
iii
Version 2.1 (R14SP1) Model Predictive Control Toolbox
Software
Version 2.0 (R14) Model Predictive Control Toolbox
Software
Compatibility Summary for Model Predictive Control
Toolbox
........................................ 18
........................................ 19
......................................... 22
iv Contents
SummarybyVersion
This table provides quick access to what’s new in each version. For
clarification, see “Using Release Notes” on page 2 .
Model Predictive Control Toolbox™ Release Notes
Version
(Release)
Latest Versi
V3.2 (R2010
V3.1.1 (R2009b)
V3.1 (R2009a)
V3.0 (R
on
a)
2008b)
New Features
and Changes
Yes
Details
No No Bug Reports
Yes
“Version
(R2009a)
Predict
Control
Softwar
page 6
Yes
“Version 3.0
(R2008b) Model
Predictive
Control Toolbox
Software” on
page 7
3.1
Model
ive
Toolbox
e” on
Version
Compatibilit
Consideratio
No Bug Reports
No Bug Repor
No Bug Reports
y
ns
Fixed Bugs
and Known
Problems
Includes fix
Includes fixes
ts
Includes
Includes fixes
fixes
es
Related
Documentation
at Web Site
Printable R elease
Notes: PDF
Current product
documentation
No
No
No
V2.3.1 (R2008a)
V2.3 (R2007b)
No No No No
Yes
“Version 2.3
(R2007b) Model
Predictive
Control Toolbox
Software” on
page 11
No No No
1
Model Predictive Control Toolbox™ Release Notes
Version
(Release)
V2.2.4 (R2007a)
V2.2.3 (R2006b)
V2.2.2 (R2006a)
V2.2.1 (R14SP3)
V2.2 (R14SP2)
V2.1 (R14SP1)
V2.0 (R14)
New Features
and Changes
Version
Compatibility
Considerations
Fixed Bugs
and Known
Problems
No No Bug Reports
Includes fixes
No No
Yes
No
No bug fixes
No bug fixes
“Version 2.2.2
(R2006a) Model
Predictive
Control Toolbox
Software” on
page 15
No No
No No
No No
Yes
No
No bug fixes
No bug fixes
Fixed bugs
Known p roblems
“Version 2.0
(R14) Model
Predictive
Control Toolbox
Software” on
page 19
Related
Documentation
at Web Site
No
No
No
No
No
No
No
Using Release Notes
Use release notes when upgrading to a newer version to learn about:
• New features
• Changes
• Potential impact on your existing files and practices
Review the release notes for other MathWorks™ products required for this
product (for example, MATLAB
bugs, or compatibility considerations in other products impact you.
2
®
or Simulink®). Determine if enhancements,
SummarybyVersion
If you are upgrading from a software version other than the m ost recent one,
review the current release notes and all interim versions. For example, when
you upg rade from V1.0 to V1.2, review the release notes for V1.1 and V1.2.
What Is in the Release Notes
New Features and Changes
• New functionality
• Changes to existing functionality
Version Compatibility Con si derations
When a new feature or change introduces a reported incompatibility between
versions, the Compatibility Considerations subsection explains the
impact.
Compatibility issues reported after the product release appear under Bug
Reports at The MathWorks™ Web site. Bug fixes can sometimes result
in incompatibilities, so review the fixed bugs in Bug Reports for any
compatibility impact.
Fixed Bugs and Known Problems
The MathWorks offers a user-searchable Bug Reports database so you can
view Bug Reports. The development team updates this database at release
time and as more information becomes available. Bug Reports include
provisions for any known workarounds or file replacem ents. Information is
available for bugs existing in or fixed in Release 14SP2 or later. Information
is not avail able for all bugs in earlier releases.
Access Bug Reports using y our MathWorks Account.
3
Model Predictive Control Toolbox™ Release Notes
Version 3.2 (R2010a) Model Predictive Control Toolbox
Software
New Features and
Changes
Yes
Details below
This table summ
Version
Compatibility
Considerations
No Bug Reports
New features introduced in this version:
arizes what’s new in Version 3.2 (R2010a):
Fixed Bugs an d
Known Problems
Includes fixes
Related
Documentation at
Web Site
No
New Ability to Analyze SISO Generalized Predictive
Controllers (GPC)
You can now use gpc2mpc to convert your SISO G PC controller to an MPC
controller. Analyze and simula te the resulting MPC controller using available
Model Predictive Control Toolbox™ commands.
For more information, see the
gpc2mpc reference page.
4
Version 3.1.1 (R2009b) Model Predictive Control Toolbox™
Version 3.1.1 (R2009b) Model Predictive Control Toolbox
This table summarizes what’s new in Version 3.1.1 (R2009b):
New Features and
Changes
No No Bug Reports
Version
Compatibility
Consideratio
ns
Fixed Bugs an d
Known Problems
Includes fix
es
Related
Documentation at
Web Site
Printable Release
Notes: PDF
Current product
documentation
5
Model Predictive Control Toolbox™ Release Notes
Version 3.1 (R2009a) Model Predictive Control Toolbox
Software
New Features and
Changes
Yes
Details below
This table summ
Version
Compatibility
Considerations
No Bug Reports
New features and changes introduced in this version are described here.
arizes what’s new in Version 3.1 (R2009a):
Fixed Bugs an d
Known Problems
Includes fixes
Related
Documentation at
Web Site
No
New Sensitivity Analysis to Determine Effect of
Weights on Tuning MPC Controllers
You can now perform sensitivity analysis to determine the effect of weights
on the closed-loop performance of your system. You can perform sensitivity
analysis using the following:
• MPC Tuning Advisor. See Tuning Advisor in the Model Predictive Control
User’s Guide.
•
sensitivity command. See the sensitivity refere n ce page.
6
Version 3.0 (R2008b) Model Predictive Control Toolbox™ Software
Version 3.0 (R2008b) Model Predictive Control Toolbox
Software
New Features and
Changes
Yes
Details below
This table summ
Version
Compatibility
Considerations
No Bug Reports
New features and changes introduced in this version are:
• “New Multiple MPC Controllers Block in the Model Predictive Control
Toolbox Simulink Library” on p age 7
• “Tested Code Generation Support for Real-Time Workshop Target Systems ”
on page 8
• “Ability to Design Controllers with Time-Varying Weights and Constraints
Using the GUI” on page 8
arizes what’s new in Version 3.0 (R2008b):
Fixed Bugs an d
Known Problems
Includes fixes
Related
Documentation at
Web Site
No
New Multiple MPC Controllers Block in the Model
Predictive Control Toolbox Simulink Library
You can now use the Multiple M PC Controllers block in Simulink software
to control a nonlinear process over a range of operating points. You include
an MPC controller for each operating point in the Multiple MPC Controllers
block and specify switching between these controllers in real-time based on
the input scheduling signal to the block. If you need to change the design of
a specific controller, you can open the MPC Design Tool GUI directly from
the Multiple MPC Controllers block.
During model simulation, Model Predictive Control Toolbox provides
bumpless transfer when the system transitions between operating points.
To learn more about configuring the new block, see the Multiple MPC
Controllers block reference page.
7
Model Predictive Control Toolbox™ Release Notes
Tested Code Generation Support for Real-Time
Workshop Target Systems
After designing an MPC controller in Simulink software using the MPC
Controller block, you can use Real-Time Workshop
controller and deploy it to the following target systems for real-time control:
• Generic Real-Time Target
• Real-Time Workshop Embedded Coder
• Real-Time Windows Target
• Rapid Simulation Target
• Target Support Package FM5
• xPC Target
• dSpace Target
• Target for Infineon TriCore
®
software to build this
The following target systems are either not supporte d or not recommended
because they result in significant performance issues:
• Embedded Target for TI C2000 DSP
• Embedded Target for TI C6000 DSP
• Target Support Package IC1 (for Infineon C166)
• Tornado (VxWorks) Real-Time Target
Note The Multiple MPC Controllers block has not been tested with the
target systems supported by Real-Time Workshop software.
Ability to Design Controllers with Time-Varying
Weights and Constraints Using the GUI
While you design an MPC controller using the MPC Design Tool graphical
user interface (GUI), you can specify time-varying weights and constraints for
manipulated variables, rate of change of manipulated variables, and output
8
Version 3.0 (R2008b) Model Predictive Control Toolbox™ Software
variables. In the previous version, you could only specify the time-varying
weights and constraints at the command line.
Furthermore, you can load an MPC controlle r with time-varying information
from the command line into the MPC Design Tool GUI.
To learn more about the new options in the MPC Design Tool GUI, see the
Model Predictive Control Toolbox documentation.
9
Model Predictive Control Toolbox™ Release Notes
Version 2.3.1 (R2008a) Model Predictive C ontrol Toolbox
Software
This table summ
New Features and
Changes
No No No No
Version
Compatibility
Considerations
arizes what’s new in Version 2.3.1 (R2008a):
Fixed Bugs an d
Known Problems
Related
Documentation at
Web Site
10
Version 2.3 (R2007b) Model Predictive Control Toolbox™ Software
Version 2.3 (R2007b) Model Predictive Control Toolbox
Software
New Features and
Changes
Yes
Details below
This table summ
Version
Compatibility
Considerations
No No No
New features and changes introduced in this version are:
• “New Option f or Specifying Time-Varying Co ns trai nts” on page 11
• “Ability to Specify Nondiagonal Q and R Weight Matrices in the Cost
Function” on page 11
arizes what’s new in Version 2.3 (R2007b):
Fixed Bugs an d
Known Problems
Related
Documentation at
Web Site
New Option for Specifying Time-Varying Constraints
You can now configure the Model Predictive Controller block in Simulin k to
accept time-varying constraint signals that are generated by other blocks. To
add inports to which you can connect time-varying constraint specifications,
select the new Enable input port for input and output limits check box
in the MPC Controller block. See also the
In the previous version, you could only specify the constraints during the
design phase and these contraints remained constant for the duration of the
simulation.
mpcvarbounds demo.
For more info rmation about the new Enable input port for input and
output limits check box in the Model Predictive Controller block, see the
MPC Controller block reference page.
Ability to Specify Nondiagonal Q and R Weight
Matrices in the Cost Function
You can now specify off-diagonal weights in the cost function. In the previous
release, only diagonal Q and R matrices were supported.
11
Model Predictive Control Toolbox™ Release Notes
To learn more about specifying off-diagonal weights, see the discussion about
weights in the MPC Controller block reference pages.
To access a new demo that shows how to use nondiagonal weight matrices,
type the following command at the MATLAB prompt:
showdemo('mpcweightsdemo')
12
Version 2.2.4 (R2007a) Model Predictive Control Toolbox™ Software
Version 2.2.4 (R2007a) Model Predictive C ontrol Toolbox
Software
This table summ
New Features and
Changes
No No Bug Reports
Version
Compatibility
Considerations
arizes what’s new in Version 2.2.4 (R2007a):
Fixed Bugs an d
Known Problems
Includes fixes
Related
Documentation at
Web Site
No
13
Model Predictive Control Toolbox™ Release Notes
Version 2.2.3 (R2006b) Model Predictive C ontrol Toolbox
Software
This table summ
New Features and
Changes
No No
Version
Compatibility
Considerations
arizes what’s new in Version 2.2.3 (R2006b):
Fixed Bugs an d
Known Problems
No bug fixes
Related
Documentation at
Web Site
No
14
Version 2.2.2 (R2006a) Model Predictive Control Toolbox™ Software
Version 2.2.2 (R2006a) Model Predictive C ontrol Toolbox
Software
New Features and
Changes
Yes
Details below
This table summ
Version
Compatibility
Considerations
No
New features and changes introduced in this version are described here.
arizes what’s new in Version 2.2.2 (R2006a):
Fixed Bugs an d
Known Problems
No bug fixes
Related
Documentation at
Web Site
No
Bumpless Transfer Added to MPC Block
Bumpless transfer between manual and automatic operation or from one
controller to another has been added to the Model Predictive Controller block
in Simulink. This block now allows feedback of the true manipulated variable
signals, which allows the controller to maintain an accurate state estimate
during periods when its calculated adjustments are not b eing sent to the
plant. For example, the contro ller’s output might be ignored during a startup
period or during temporary intervention by a (simulated) plant operator.
If the controller assumes that its adjustments are being implemented (the
default behavior), its state estimate w ill be incorrect, leading to a “bump”
when the controller is reconnected to the plant. A tutorial example has been
added to the documentation.
New Bumpless Transfer Demo
A n ew demo illustrating bumpless transfer has been added to the toolbox.
15
Model Predictive Control Toolbox™ Release Notes
Version 2.2.1 (R14SP3) Model Predictive Control Toolbox
Software
This table summ
New Features and
Changes
No No
Version
Compatibility
Considerations
arizes what’s new in Version 2.2.1 (R14SP3):
Fixed Bugs an d
Known Problems
No bug fixes
Related
Documentation at
Web Site
No
16
Version 2.2 (R14SP2) Model Predictive Control Toolbox™ Software
Version 2.2 (R14SP2) Model Predictive Control Toolbox
Software
This table summ
New Features and
Changes
No No
Version
Compatibility
Considerations
arizes what’s new in Version 2.2 (R14SP2):
Fixed Bugs an d
Known Problems
No bug fixes
Related
Documentation at
Web Site
No
17
Model Predictive Control Toolbox™ Release Notes
Version 2.1 (R14SP1) Model Predictive Control Toolbox
Software
This table summ
New Features and
Changes
No No
Version
Compatibility
Considerations
arizes what’s new in Version 2.1 (R14SP1):
Fixed Bugs an d
Known Problems
Fixed bugs
Related
Documentation at
Web Site
No
18
Version 2.0 (R14) Model Predictive Control Toolbox™ Software
Version 2.0 (R14) Model Predictive Control Toolbox
Software
New Features and
Changes
Yes
Details below
This table summ
Version
Compatibility
Considerations
No
New features and changes introduced in this version are
• “Object-Oriented Command Syntax Revised” on page 19
• “MPC Block for Simulink Revised” on page 20
• “MPC Tools Designer Added” on page 20
• “Integration with Other MATLAB Toolboxes” on page 20
• “Demos” on page 21
• “Documentation” on page 21
arizes what’s new in Version 2.0 (R14):
Fixed Bugs an d
Known Problems
Fixed bugs
Related
Documentation at
Web Site
No
Object-Oriented Command Syntax Revised
The command syntax has been completely revised, and is similar to that
used in the Control System Toolbox™ software. You create an “LTI object”
to represent the plant to be controlled, using it and other specifications to
create an MPC object, which represents the controller. You can then analyze
controller properties, run simulations, modify the controller design, etc. The
following list summarizes the major command features:
• Create and modify an MPC object.
• Extract a linear representation of the unconstrained controller as an LTI
object (transfer function, state space, or zero-pole-gain).
• Calculate closed-loop steady-state gains for the unconstrained controller.
• Determine closed-loop steady-state conditions for given inputs and/or
outputs.
19
Model Predictive Control Toolbox™ Release Notes
• Calculate the constrained control action at a specified condition (can be
used re pe ate dly as time evolves in a simulation or experiment).
• Simulate closed-loop constrained response for a linear plant and arbitrary
changes in the reference signals (setpoints), disturbances, and noise.
• Specify disturbance characteristics to improve regulation while maintaining
good response to reference signal changes (2-DOF design).
MPC Block for Simulink Revised
The c o mpletely revised MPC block lets you insert your MPC controller object
into a Simulink block diagram. You can use multiple MPC blocks within a
single Simulink model if you want. In any case, the MPC block makes it easy
to evaluate controller performance with a nonlinear plant.
MPC Tools Designer Added
MPC Tools is a new graphical environment that lets you design and test an
MPC controller object without learning the command syntax. It is tightly
integrated with the MPC block for Simulink, making it easy to run either a
linear or nonlinear simulation.
20
Integration with Other MATLAB Toolboxes
The Model Predictive Control Toolbox software uses the same LTI model
representation found in the Control System Toolbox software, System
Identification Toolbox™ software, etc. Examples of ways in which you can
exploit toolbox compatibility include the following:
• Import raw dynamic response data to the System Identification Toolbox
software, determine an appropriate LTI plant model, and export it to Model
Predictive Control Toolbox software fo r controller design.
• Extract an LTI representation of a model predictive controller for analysis
in the Control System Toolbox or Robust Control Toolbox™ software.
Integration with the Control a nd Estimation Tools Manager
The MPC Design Tool graphical user interface is integrated with other control
and estimation projects within the Control and Estimation Tools Manager
environment. In general, this lets you group control-related applications
Version 2.0 (R14) Model Predictive Control Toolbox™ Software
associated with the same Simulink model and share infrastructure.
Specifically, the ability to combine the functionality of Model Predictive
Control Toolbox and Simulink
model predictive control design in Simulink by linearizing a Simulink model
as it is connected to an MPC block, with automatic use of the resulting linear
model to define the internal MPC plant model.
®
Control Design™ software allows in-situ
Demos
The Model Predictive Control Toolbox software includes new demos that
highlight all the added features.
Documentation
The documentation has been revised completely.
21
Model Predictive Control Toolbox™ Release Notes
Compatibility Summary for Model Predictive Control
Toolbox
This table summarizes new features and changes that might cause
incompatibilities when you upgrade from an earlier version, or wh en you
use files on multiple versions. Details are provided with the description of
the new feature or change.
Version (Release) New Features and Changes with Version
Compatibility Impact
Latest Version
V3.2 (R2010a)
V3.1.1 (R2009b)
V3.1 (R2009a)
V3.0 (R2008b)
V2.3.1 (R2008a)
V2.3 (R2007b)
V2.2.4 (R2007a)
V2.2.3 (R2006b)
V2.2.2 (R2006a)
V2.2.1 (R14SP3)
V2.2 (R14SP2)
V2.1 (R14SP1)
V2.0 (R14)
None
None
None
None
None
None
None
None
None
None
None
None
None
22
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